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https://github.com/apache/nuttx.git
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d68476796a
fix various coding style issues for drivers/sensors: - remove redundant `#define CONFIG_XXX` that should be provided from Kconfig - correct section banners - remove empty section banners - fix some function banners Signed-off-by: raiden00pl <raiden00@railab.me>
439 lines
13 KiB
C
439 lines
13 KiB
C
/****************************************************************************
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* drivers/sensors/bmi088.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/semaphore.h>
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#include "bmi088_base.h"
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#if defined(CONFIG_SENSORS_BMI088)
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/****************************************************************************
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* Private Types
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****************************************************************************/
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static uint8_t acc_range = BMI088_ACC_RANGE_6G;
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static uint8_t gyro_range = BMI088_GYRO_RANGE_2000DPS;
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static uint8_t gyro_bandwidth = BMI088_GYRO_BANDWIDTH_2000HZ_532HZ;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/* Character driver methods */
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static int bmi088_acc_open(FAR struct file *filep);
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static int bmi088_gyro_open(FAR struct file *filep);
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static int bmi088_acc_close(FAR struct file *filep);
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static int bmi088_gyro_close(FAR struct file *filep);
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static ssize_t bmi088_acc_read(FAR struct file *filep, FAR char *buffer,
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size_t len);
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static ssize_t bmi088_gyro_read(FAR struct file *filep, FAR char *buffer,
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size_t len);
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static int bmi088_acc_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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static int bmi088_gyro_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* This the vtable that supports the character driver interface */
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static const struct file_operations g_bmi088_acc_fops =
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{
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bmi088_acc_open, /* open */
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bmi088_acc_close, /* close */
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bmi088_acc_read, /* read */
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NULL, /* write */
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NULL, /* seek */
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bmi088_acc_ioctl, /* ioctl */
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};
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/* This the vtable that supports the character driver interface */
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static const struct file_operations g_bmi088_gyro_fops =
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{
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bmi088_gyro_open, /* open */
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bmi088_gyro_close, /* close */
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bmi088_gyro_read, /* read */
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NULL, /* write */
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NULL, /* seek */
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bmi088_gyro_ioctl, /* ioctl */
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};
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/****************************************************************************
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* Name: bmi088_acc_open
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*
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* Description:
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* Standard character driver open method.
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*
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****************************************************************************/
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static int bmi088_acc_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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up_mdelay(1);
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bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CTRL ,
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BMI088_ACC_PWR_CTRL_ACC_ENABLE);
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up_mdelay(5);
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bmi088_put_acc_reg8(priv, BMI088_ACC_RANGE , acc_range);
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up_mdelay(50);
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bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CONF ,
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BMI088_ACC_PWR_CONF_ACTIVE_MODE);
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bmi088_put_acc_reg8(priv, BMI088_INT1_IO_CONF , 0x08);
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bmi088_put_acc_reg8(priv, BMI088_INT1_INT2_MAP_DATA, 0x04);
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_gyro_open
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*
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* Description:
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* Standard character driver open method.
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*
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****************************************************************************/
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static int bmi088_gyro_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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/* enable and config acc */
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_LPM1 , BMI088_GYRO_PM_NORMAL);
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_RANGE , gyro_range);
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_BANDWIDTH, gyro_bandwidth);
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bmi088_put_gyro_reg8(priv, BMI088_INT3_INT4_IO_CONF, 0x00);
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bmi088_put_gyro_reg8(priv, BMI088_INT3_INT4_IO_MAP , 0x01);
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_INT_CTRL , 0x80);
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_acc_close
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*
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* Description:
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* Standard character driver close method.
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*
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****************************************************************************/
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static int bmi088_acc_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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/* Set suspend mode to each sensors. */
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bmi088_put_acc_reg8(priv, BMI088_ACC_INT_STAT_1, 0x00);
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bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CONF ,
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BMI088_ACC_PWR_CONF_SUSPEND_MODE);
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up_mdelay(5);
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bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CTRL ,
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BMI088_ACC_PWR_CTRL_ACC_DISABLE);
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up_mdelay(5);
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_gyro_close
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*
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* Description:
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* Standard character driver close method.
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*
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****************************************************************************/
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static int bmi088_gyro_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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/* Set suspend mode to each sensors. */
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_LPM1, BMI088_GYRO_PM_SUSPEND);
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up_mdelay(30);
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_acc_read
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*
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* Description:
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* Standard character driver read method.
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*
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****************************************************************************/
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static ssize_t bmi088_acc_read(FAR struct file *filep, FAR char *buffer,
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size_t len)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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FAR struct acc_gyro_st_s *p = (FAR struct acc_gyro_st_s *)buffer;
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if (len < sizeof(struct acc_gyro_st_s))
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{
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snerr("Expected buffer size is %zu\n", sizeof(struct acc_gyro_st_s));
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return 0;
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}
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/* read and calculate acc */
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bmi088_get_acc_regs(priv, BMI088_ACC_X_LSB, (uint8_t *)&p->acc_source, 6);
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p->accel.x = p->acc_source.x / 32768.0 * ((1 << (acc_range)) * 3.0);
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p->accel.y = p->acc_source.y / 32768.0 * ((1 << (acc_range)) * 3.0);
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p->accel.z = p->acc_source.z / 32768.0 * ((1 << (acc_range)) * 3.0);
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return len;
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}
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/****************************************************************************
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* Name: bmi088_acc_read
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*
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* Description:
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* Standard character driver read method.
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*
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****************************************************************************/
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static ssize_t bmi088_gyro_read(FAR struct file *filep, FAR char *buffer,
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size_t len)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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FAR struct acc_gyro_st_s *p = (FAR struct acc_gyro_st_s *)buffer;
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if (len < sizeof(struct gyro_t))
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{
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snerr("Expected buffer size is %zu\n", sizeof(struct acc_gyro_st_s));
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return 0;
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}
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bmi088_get_gyro_regs(priv, BMI088_GYRO_X_LSB,
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(uint8_t *)&p->gyro_source, 6);
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p->gyro.x = p->gyro_source.x / 32768.0 * (2000.0 / (1 << (gyro_range)));
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p->gyro.y = p->gyro_source.y / 32768.0 * (2000.0 / (1 << (gyro_range)));
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p->gyro.z = p->gyro_source.z / 32768.0 * (2000.0 / (1 << (gyro_range)));
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return len;
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}
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/****************************************************************************
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* Name: bmi088_acc_ioctl
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*
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* Description:
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* Standard character driver ioctl method.
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*
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****************************************************************************/
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static int bmi088_acc_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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int ret = OK;
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switch (cmd)
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{
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case SNIOC_ACC_ENABLE:
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break;
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case SNIOC_ACC_DISABLE:
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break;
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default:
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snerr("Unrecognized cmd: %d\n", cmd);
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ret = -ENOTTY;
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break;
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}
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return ret;
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}
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/****************************************************************************
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* Name: bmi088_gyro_ioctl
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*
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* Description:
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* Standard character driver ioctl method.
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*
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****************************************************************************/
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static int bmi088_gyro_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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int ret = OK;
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switch (cmd)
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{
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case SNIOC_GYRO_ENABLE:
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break;
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case SNIOC_GYRO_DISABLE:
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break;
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default:
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snerr("Unrecognized cmd: %d\n", cmd);
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ret = -ENOTTY;
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break;
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}
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return ret;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: bmi088_acc_register
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*
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* Description:
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* Register the BMI088 character device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/press0"
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* dev - An instance of the SPI interface to use to communicate with
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* BMI088
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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#ifdef CONFIG_SENSORS_BMI088_I2C
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int bmi088_acc_register(FAR const char *devpath,
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FAR struct i2c_master_s *dev)
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#else /* CONFIG_SENSORS_BMI088_SPI */
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int bmi088_acc_register(FAR const char *devpath, FAR struct spi_dev_s *dev)
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#endif
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{
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FAR struct bmi088_dev_s *priv;
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int ret;
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priv = (FAR struct bmi088_dev_s *)kmm_malloc(sizeof(struct bmi088_dev_s));
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if (!priv)
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{
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snerr("Failed to allocate instance\n");
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return -ENOMEM;
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}
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#ifdef CONFIG_SENSORS_BMI088_I2C
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priv->i2c = dev;
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priv->addr = BMI088_I2C_ACC_ADDR;
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priv->freq = BMI088_I2C_FREQ;
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#else /* CONFIG_SENSORS_BMI088_SPI */
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priv->spi = dev;
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#endif
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ret = bmi088_get_acc_reg8(priv, BMI088_ACC_CHIP_ID);
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if (ret != 0x1e)
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{
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snerr("Wrong Device ID!\n");
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kmm_free(priv);
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return ret;
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}
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ret = register_driver(devpath, &g_bmi088_acc_fops, 0666, priv);
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if (ret < 0)
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{
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snerr("Failed to register driver: %d\n", ret);
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kmm_free(priv);
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}
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sninfo("BMI088 driver loaded successfully!\n");
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_gyroregister
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*
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* Description:
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* Register the BMI088 character device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/press0"
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* dev - An instance of the SPI interface to use to communicate with
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* BMI088
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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#ifdef CONFIG_SENSORS_BMI088_I2C
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int bmi088_gyro_register(FAR const char *devpath,
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FAR struct i2c_master_s *dev)
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#else /* CONFIG_SENSORS_BMI088_SPI */
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int bmi088_gyro_register(FAR const char *devpath, FAR struct spi_dev_s *dev)
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#endif
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{
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FAR struct bmi088_dev_s *priv;
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int ret;
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priv = (FAR struct bmi088_dev_s *)kmm_malloc(sizeof(struct bmi088_dev_s));
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if (!priv)
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{
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snerr("Failed to allocate instance\n");
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return -ENOMEM;
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}
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#ifdef CONFIG_SENSORS_BMI088_I2C
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priv->i2c = dev;
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priv->addr = BMI088_I2C_GY_ADDR;
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priv->freq = BMI088_I2C_FREQ;
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#else /* CONFIG_SENSORS_BMI088_SPI */
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priv->spi = dev;
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#endif
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ret = bmi088_get_gyro_reg8(priv, BMI088_GYRO_CHIP_ID);
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if (ret != 0x0f)
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{
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snerr("Wrong Device ID!\n");
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kmm_free(priv);
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return ret;
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}
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ret = register_driver(devpath, &g_bmi088_gyro_fops, 0666, priv);
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if (ret < 0)
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{
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snerr("Failed to register driver: %d\n", ret);
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kmm_free(priv);
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}
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sninfo("BMI088 driver loaded successfully!\n");
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return OK;
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}
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#endif /* CONFIG_SENSORS_BMI088 */
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